Multifunctional Operational Component for Robotic Devices

ABSTRACT

The various embodiments disclosed herein relate to modular medical devices, including various devices with detachable modular components and various devices with pivotally attached modular components. Additional embodiments relate to procedures in which various of the devices are used cooperatively. Certain embodiments of the medical devices are robotic in vivo devices.

CROSS-REFERENCE TO RELATED APPLICATION(S)

This application claims priority as a continuation of U.S. applicationSer. No. 14/202,353, filed Mar. 10, 2014 and entitled “MultifunctionalOperational Component for Robotic Devices,” which claims priority as acontinuation of U.S. application Ser. No. 12/324,364, filed Nov. 26,2008 and entitled “Multifunctional Operational Component for RoboticDevices,” which issued on Mar. 25, 2014 as U.S. Pat. No. 8,679,096,which claims priority to U.S. Application 60/990,086, filed Nov. 26,2007 and entitled “Multifunctional Operational Component,” all of whichare hereby incorporated herein by reference in their entireties.Additionally, U.S. application Ser. No. 12/324,364 is acontinuation-in-part of U.S. application Ser. No. 12/192,779, filed Aug.15, 2008 and entitled “Modular and Cooperative Medical Devices andRelated Systems and Methods,” which issued on Mar. 10, 2015 as U.S. Pat.No. 8,974,440, which claims priority to U.S. Application 60/956,032,filed Aug. 15, 2007, U.S. Application 60/990,076, filed Nov. 26, 2007,U.S. Application 60/990,106, filed Nov. 26, 2007, U.S. Application61/025,346, filed Feb. 1, 2008, and U.S. Application 61/030,617, filedFeb. 22, 2008, all of which are hereby incorporated herein by referencein their entireties. Further, U.S. application Ser. No. 12/324,364 is acontinuation-in-part of U.S. application Ser. No. 11/766,683, filed onJun. 21, 2007 and entitled “Magnetically Coupleable Robotic Devices andRelated Methods,” which issued on Mar. 3, 2015 as U.S. Pat. No.8,968,332, which claims priority to U.S. Application 60/815,741, filedJun. 22, 2006, U.S. Application 60/845,608, filed Sep. 29, 2006, U.S.Application 60/868,030, filed Nov. 30, 2006, U.S. Application60/884,792, filed Jan. 12, 2007, and U.S. Application 60/888,182, filedFeb. 5, 2007, all of which are hereby incorporated herein by referencein their entireties. In addition, U.S. application Ser. No. 12/324,364is a continuation-in-part of U.S. application Ser. No. 11/966,741, filedDec. 28, 2007 and entitled “Methods, Systems, and Devices for SurgicalVisualization and Device Manipulation,” which claims priority to U.S.Application 60/890,691, filed Feb. 20, 2007, U.S. Application60/956,032, filed Aug. 15, 2007, and U.S. Application 60/983,445, filedOct. 29, 2007, all of which are hereby incorporated herein by referencein their entireties.

GOVERNMENT SUPPORT

This invention was made with government support under Grant No.R21EB5663-2, awarded by the National Institute of Biomedical Imaging andBioengineering within the National Institutes of Health. Accordingly,the government has certain rights in the invention.

FIELD OF THE INVENTION

The embodiments disclosed herein relate to various medical devices andrelated components, including robotic and/or in vivo medical devices andrelated components. Certain embodiments include various modular medicaldevices, including modular in vivo and/or robotic devices. Inparticular, certain embodiments relate to modular medical devicesincluding various functional and/or multifunctional operationalcomponents. Further embodiments relate to methods of operating the abovedevices, including methods of using various of the devicescooperatively.

BACKGROUND OF THE INVENTION

Invasive surgical procedures are essential for addressing variousmedical conditions. When possible, minimally invasive procedures such aslaparoscopy are preferred.

However, known minimally invasive technologies such as laparoscopy arelimited in scope and complexity due in part to 1) mobility restrictionsresulting from using rigid tools inserted through access ports, and 2)limited visual feedback. Known robotic systems such as the da Vinci®Surgical System (available from Intuitive Surgical, Inc., located inSunnyvale, Calif.) are also restricted by the access ports, as well ashaving the additional challenges of being very large, very expensive,unavailable in most hospitals, and having limited sensory and mobilitycapabilities.

BRIEF SUMMARY OF THE INVENTION

One embodiment disclosed herein relates to a modular medical device orsystem having at least one modular component configured to be disposedinside a cavity of a patient. The modular component has a body, anoperational component, and a coupling component. In a furtherembodiment, the modular component can be coupled at the couplingcomponent to a second modular component. In a further alternative, athird modular component can be coupled to the first and second modularcomponents.

Another embodiment disclosed herein relates to a modular medical deviceor system having a body configured to be disposed inside a cavity of apatient. The device also has at least a first modular componentcoupleable to the body, the first modular component having a firstoperational component. In another embodiment, the device also has asecond modular component coupleable to the body, the second modularcomponent having a second operational component. In furtheralternatives, the device can also have third and fourth modularcomponents or more.

In certain embodiments, the operational component can be amulti-functional operational component. If more than onemulti-functional operational component is provided, the multi-functionaloperational components can be the same as or different from one another.According to one embodiment, a multi-functional operational embodimentincludes a first arm having any one of an irrigation component, asuction component, a cautery component, a biopsy component, a sensorcomponent, or a treatment module and a second arm. In some embodiments,the second arm can also include any one of an irrigation component, asuction component, a cautery component, a biopsy component, a sensorcomponent, or a treatment module.

Yet another embodiment disclosed herein relates to a modular medicaldevice or system having a first modular component, a second modularcomponent, and a third modular component. In one embodiment, the threemodular components are pivotally connected to each other in a triangularconfiguration. In this embodiment, the first and third components can becoupled together at a releasable mating connection. According to oneembodiment, each of the modular components has an inner body and anouter body, wherein the inner body is rotatable in relation to the outerbody. In addition, each modular component has an operational componentassociated with the inner body. In accordance with anotherimplementation, each of the inner and outer bodies comprise an opening,and each of the inner bodies is rotatable to position the inner andouter openings in communication, whereby the operational components areaccessible. In a further alternative, each pivotal connection of thedevice or system has a mechanism configured to urge the mating orcoupling connections at the ends of the first and third components intocontact. Alternatively, the device has four modular components that arepivotally connected to each other in a quadrangular configuration. Infurther alternatives, additional modular components can be pivotallyconnected to each other.

While multiple embodiments are disclosed, still other embodiments of thepresent invention will become apparent to those skilled in the art fromthe following detailed description, which shows and describesillustrative embodiments of the invention. As will be realized, theinvention is capable of modifications in various obvious aspects, allwithout departing from the spirit and scope of the present invention.Accordingly, the drawings and detailed description are to be regarded asillustrative in nature and not restrictive.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A is a perspective view of a modular medical device, according toone embodiment.

FIG. 1B is a side view of the modular medical device of FIG. 1A.

FIG. 1C is a front view of the modular medical device of FIG. 1A.

FIG. 2A depicts a perspective view of a modular component, according toone embodiment.

FIG. 2B depicts a close-up perspective view of a portion of the modularcomponent of FIG. 2A.

FIG. 3 is a perspective view of another modular component, according toanother embodiment.

FIG. 4 is a front cutaway view of another modular component, accordingto a further embodiment.

FIG. 5A is a perspective view of a modular medical device controlsystem, according to one embodiment.

FIG. 5B is a front cutaway view of the system of FIG. 5A.

FIG. 6A is a perspective view of a modular medical device control andvisualization system, according to one embodiment.

FIG. 6B is a front cutaway view of the system of FIG. 6A.

FIG. 7A is a perspective cutaway view of a modular medical devicecontrol and visualization system, according to another embodiment.

FIG. 7B is a front cutaway view of the system of FIG. 7A.

FIG. 8A is a perspective view of a modular medical device, according toanother embodiment.

FIG. 8B is another perspective view of the device of FIG. 8A.

FIG. 9 is a perspective view of another modular medical device,according to a further embodiment.

FIG. 10 is a perspective view of a further modular medical device,according to another embodiment.

FIG. 11 is a perspective view of another modular medical device,according to one embodiment.

FIG. 12A is a perspective view of another modular medical device,according to a further embodiment.

FIG. 12B is a close-up perspective view of a part of the device of FIG.12A.

FIG. 12 C is another perspective view of the device of FIG. 12A.

FIG. 13 is a perspective view of a further modular medical device,according to another embodiment.

FIG. 14 is a perspective view of the disassembled components of anothermodular medical device, according to one embodiment.

FIG. 15 is a perspective view of the disassembled components of afurther modular medical device, according to another embodiment.

FIG. 16 is a perspective view of the disassembled components of afurther modular medical device, according to another embodiment.

FIG. 17 is a perspective view of an assembled modular medical device,according to a further embodiment.

FIG. 18A is a close-up, schematic view of an operational componentaccording to one embodiment.

FIG. 18B is a schematic view of a robotic device including theoperational component shown in FIG. 18A.

FIG. 19A is a close-up, schematic view of an operational componentaccording to one embodiment.

FIG. 19B is a schematic view of a robotic device including theoperational component shown in FIG. 19A.

FIG. 20A is a close-up, schematic view of an operational componentaccording to one embodiment.

FIG. 20B is a schematic view of a robotic device including theoperational component shown in FIG. 20A.

FIG. 20C is a close-up schematic view of an operational componentaccording to an embodiment.

FIGS. 21A-21C are close-up, schematic views of an operational componentaccording to various embodiments.

FIG. 22 is a close-up, schematic view of an operational componentaccording to an embodiment.

FIG. 23 is a close-up, schematic view of an operational componentaccording to one embodiment.

FIG. 24 is a close-up, schematic view of an operational componentaccording to one embodiment.

FIG. 25 is a close-up, schematic view of an operational componentaccording to one embodiment.

FIG. 26A is a front view of a modular medical device with a payloadspace, according to one embodiment.

FIG. 26B is another front view of the device of FIG. 26A.

FIG. 27A is a perspective view of a modular medical device, according toanother embodiment.

FIG. 27B is a perspective bottom view of the device of FIG. 27A.

FIG. 28A is a perspective top view of the device of FIG. 27A.

FIG. 28B is a perspective side view of the device of FIG. 27A.

FIG. 28C is a perspective close-up view of a portion of the device ofFIG. 27A.

FIG. 29 is a perspective bottom view of the device of FIG. 27A.

FIG. 30 is a perspective side view of the device of FIG. 27A.

FIG. 31 is a top view of the device of FIG. 27A.

FIG. 32 is a perspective view of modular medical device control andvisualization system, according to one embodiment.

FIG. 33 is a perspective view of a modular medical device, according toone embodiment.

FIG. 34 is a perspective cutaway view of various medical devicesoperating cooperatively in a body cavity, according to one embodiment.

FIG. 35 is a perspective cutaway view of various medical devicesoperating cooperatively in a body cavity, according to anotherembodiment.

FIG. 36 is a perspective cutaway view of various medical devicesoperating cooperatively in a body cavity, according to a furtherembodiment.

DETAILED DESCRIPTION

The various systems and devices disclosed herein relate to devices foruse in medical procedures and systems. More specifically, variousembodiments relate to various modular or combination medical devices,including modular in vivo and robotic devices and related methods andsystems, while other embodiments relate to various cooperative medicaldevices, including cooperative in vivo and robotic devices and relatedmethods and systems.

It is understood that the various embodiments of modular and cooperativedevices and related methods and systems disclosed herein can beincorporated into or used with any other known medical devices, systems,and methods.

For example, the various embodiments disclosed herein can beincorporated into or used with any of the medical devices and systemsdisclosed in copending U.S. application Ser. No. 11/932,441 (filed onOct. 31, 2007, and entitled “Robot for Surgical Applications”), Ser. No.11/695,944 (filed on Apr. 3, 2007, and entitled “Robot for SurgicalApplications”), Ser. No. 11/947,097 (filed on Nov. 27, 2007, andentitled “Robotic Devices with Agent Delivery Components and RelatedMethods), Ser. No. 11/932,516 (filed on Oct. 31, 2007, and entitled“Robot for Surgical Applications”), Ser. No. 11/766,683 (filed on Jun.21, 2007, and entitled “Magnetically Coupleable Robotic Devices andRelated Methods”), Ser. No. 11/766,720 (filed on Jun. 21, 2007, andentitled “Magnetically Coupleable Surgical Robotic Devices and RelatedMethods”), Ser. No. 11/966,741 (filed on Dec. 28, 2007, and entitled“Methods, Systems, and Devices for Surgical Visualization and DeviceManipulation”), Ser. No. 12/171,413 (filed on Jul. 11, 2008, andentitled “Methods and Systems of Actuation in Robotic Devices”),60/956,032 (filed on Aug. 15, 2007), 60/983,445 (filed on Oct. 29,2007), 60/990,062 (filed on Nov. 26, 2007), 60/990,076 (filed on Nov.26, 2007), 60/990,086 (filed on Nov. 26, 2007), 60/990,106 (filed onNov. 26, 2007), 60/990,470 (filed on Nov. 27, 2007), 61/025,346 (filedon Feb. 1, 2008), 61/030,588 (filed on Feb. 22, 2008), and 61/030,617(filed on Feb. 22, 2008), all of which are hereby incorporated herein byreference in their entireties.

Certain device implementations disclosed in the applications listedabove can be positioned within a body cavity of a patient, includingcertain devices that can be positioned against or substantially adjacentto an interior cavity wall, and related systems. An “in vivo device” asused herein means any device that can be positioned, operated, orcontrolled at least in part by a user while being positioned within abody cavity of a patient, including any device that is positionedsubstantially against or adjacent to a wall of a body cavity of apatient, further including any such device that is internally actuated(having no external source of motive force), and additionally includingany device that may be used laparoscopically or endoscopically during asurgical procedure. As used herein, the terms “robot,” and “roboticdevice” shall refer to any device that can perform a task eitherautomatically or in response to a command.

Certain implementations disclosed herein relate to modular medicaldevices that can be assembled in a variety of configurations.

FIGS. 1A-1C depict an exemplary “combination” or “modular” medicaldevice 10, according to one embodiment. For purposes of thisapplication, both “combination device” and “modular device” shall meanany medical device having modular or interchangeable components that canbe arranged in a variety of different configurations. The combinationdevice 10 shown in FIGS. 1A-1C has three modular components 12, 14, 16coupled or attached to each other. More specifically, the device 10 hastwo robotic arm modular components 12, 14 and one robotic camera modularcomponent 16 disposed between the other two components 12, 14. In thisimplementation, the modular component 16 contains an imaging component(not shown) and one or more lighting components (not shown), while eachof the other modular components 12, 14 have an arm 24, 26 respectivelyand do not contain any lighting or imaging components. That is, in thisembodiment, the modular component 16 is a modular imaging and lightingcomponent 16 while the two modular components 12, 14 are modular armcomponents 12, 14. In the resulting configuration, the components 12,14, 16 are coupled or attached to each such that the camera component 16is disposed between the two modular arm components 12, 14. As will bediscussed in further detail below, this configuration of the components12, 14, 16 is merely one of several possible configurations of suchmodular components.

In accordance with one embodiment, the strategic positioning of variousoperational components in the combination device 10 in FIGS. 1A-1Cresults in an optimization of the volume in each of the individualcomponents 12, 14, 16. That is, the space in modular components 12, 14that would have been required for an imaging component and/or a lightingcomponent is instead utilized for larger and/or more complex actuatorsor other components. If larger or more complex actuators are utilized inboth modular components 12, 14, greater force can be applied to each arm24, 26, thereby making it possible for the combination device 10 toperform additional procedures that require greater force.

In comparison to the space optimization advantage of the combinationdevice 10, a non-combination device must have all the necessarycomponents such as imaging and illumination components in the devicebody along with the actuators, thereby reducing the space available andrequiring that the actuators and other components be small enough suchthat they all fit in the device together.

According to one alternative embodiment, the additional space availablein the combination device 10 created by the space optimization describedabove could be used to provide for more sophisticated components such asmore complex camera focusing mechanisms or mechanisms to provide zoomcapabilities. In a further alternative, the various components could bedistributed across the modular components 12, 14, 16 of the combinationdevice 10 in any fashion. For example, the illumination and imagingcomponents could be both positioned in either modular component 12 or14. Alternatively, one of the illumination and imaging components couldbe disposed in any one of the three modular components 12, 14, 16 andthe other component could be disposed in one of the other threecomponents 12, 14, 16. It is understood that any possible combination ofvarious components such as illumination, actuation, imaging, and anyother known components for a medical device can be distributed in anycombination across the modular components of any combination device.

Another advantage of the combination devices such as that shown in FIGS.1A-1C, according to one implementation, is the capacity to increase thenumber of a particular type of component in the device. For example, oneembodiment of a combination device similar to the device 10 in FIGS.1A-1C could have lighting components on more than one of the modularcomponents 12, 14, 16, and further could have more than one lightingcomponent on any given modular component. Thus, the combination devicecould have a number of lighting components ranging from one to anynumber of lighting components that could reasonably be included on thedevice. The same is true for any other component that can be included intwo or more of the modular components.

In accordance with a further embodiment, another possible advantage ofthe various combination device embodiments disclosed herein relates tothe fact that the various separable modular components (instead of onelarger device) simplifies insertion because each component separately isshorter and less complex. Thus, each component individually has asmaller cross-section and can be inserted into a body cavity through asmaller incision, port, or any other known delivery device than thelarger, non-combination device.

It is understood that, according to various embodiments, a combinationdevice such as the device 10 depicted in FIGS. 1A-1C could haveadditional modular components coupled thereto. Thus, the device couldhave additional arms or other modular components such as, for example,one or more of a sensing modular component, an illumination modularcomponent, and/or a suction/irrigation modular component.

In use, modular components (such as, for example, components 12, 14, 16of FIGS. 1A, 1B, and 1C) are each separately inserted into the targetcavity of a patient. Typically, each of the components are insertedthrough a laparoscopic port, an incision, or a natural orifice.Alternatively, the components are inserted by any known method,procedure, or device. Once each of the desired components (which couldrange from one to several components) is positioned in the targetcavity, the components can be assembled into a combination device suchas, for example, the combination device 10 depicted in FIGS. 1A-1C, bycoupling the components together in a desired configuration. After theprocedure has been performed, the components of the combination devicecan be decoupled and each separately removed. Alternatively, once aportion of a procedure is performed, one or more of the components canbe decoupled and removed from the cavity and one or more additionalcomponents can be inserted into the cavity and coupled to thecombination device for one or more additional procedures for which thecomponent replacement was necessary.

The various modular component embodiments disclosed herein can becoupled to create a combination device in a variety of ways. Toconfigure the combination device 10 as shown in FIG. 1A, the exemplarymodular components 12, 14, 16 each have four mating or couplingcomponents as best shown in FIGS. 2A, 2B, and 3.

In FIGS. 2A and 2B, the modular component 16 provides one example of anattachment mechanism for coupling modular components together. That is,the device 16 has four mating or coupling components 34A, 34B, 35A, (and35B, which is not shown) for coupling to other devices or modularcomponents. In this embodiment as best shown in FIG. 2A, there are twocoupling components 34, 35 at each end of the device 30, with twocomponents 34A, 34B at one end and two more at the other end (depictedas 35A and another such component on the opposite side of the component16 that is not visible in the figure). Alternatively, the modularcomponent 16 can have one coupling component, two coupling components,or more than two coupling components.

To better understand the coupling components of this embodiment, FIG. 2Bprovides an enlarged view of one end of the device 16, depicting themale coupling component 34A and female coupling component 34B. The malecomponent 34A in this embodiment is configured to be coupleable with acorresponding female component on any corresponding modular component,while the female component 34B is configured to be coupleable with acorresponding male component on any corresponding modular component.

It is understood that the mechanical male/female coupling componentsdiscussed above are merely exemplary coupling mechanisms. Alternatively,the components can be any known mechanical coupling components. In afurther alternative, the coupling components can also be magnets thatcan magnetically couple with other magnetic coupling components in othermodular components. In a further embodiment, the coupling components canbe a combination of magnets to help with initial positioning andmechanical coupling components to more permanently couple the twomodules.

Returning to the embodiment depicted in FIG. 1A, two modular components12, 14, each having an arm 24, 26 (respectively), are coupled to themodular component 16. FIG. 3 depicts component 12, but it is understoodthat the following discussion relating to modular component 12 appliesequally to component 14. Modular component 12 as shown in FIG. 3 hasmale/female coupling components 44, 45 that can be coupled to component16 as discussed above. Alternatively, as discussed above, any knowncoupling components can be incorporated into this component 12 forcoupling with other modular components.

According to one implementation, the arm 24 in the embodiment of FIG. 3provides the four degrees of freedom (“DOF”). These four degrees offreedom include three rotations and one extension. Two rotations occurabout the joint 42. The third rotation occurs along the axis of the arm24. The extension also occurs along the axis of the arm 24.Alternatively, any known arm implementation for use in a medical devicecan be used.

FIG. 4 depicts an alternative exemplary embodiment of modular component12. In this implementation, the actuator components 54A, 54B, 56A, 56Bare depicted in the component 12. That is, two actuators 54A, 54B areprovided in the body of the device 12, while two additional actuators56A, 56B are provided in the arm 24. According to one embodiment,actuators 54A, 54B are configured to actuate movement of the arm 24 atthe shoulder joint 58, while actuators 56A, 56B are configured toactuate movement at the arm 24. Alternatively, it is understood that anyconfiguration of one or more actuators can be incorporated into amodular component to actuate one or more portions of the component ordevice.

In accordance with further implementations, it is understood that thevarious modular components discussed herein can contain any knownoperational components contained in any non-modular medical device. Forexample, the modular component 16 has a camera 32 and further can haveall of the associated components and/or features of the modularcomponents or medical devices discussed above, including the medicaldevices and components disclosed in the applications incorporated above.

In the depicted embodiment, the modular component 16 has a connectioncomponent or “cable” 22 that can be connected at the other end of thecable 22 to a controller (not shown). Similarly, each of modularcomponents 12, 14 also can have a connection component (18, 20respectively). In alternative implementations, the combination device 10could have a single cable connected to one of the modular components. Insuch implementations, the coupling components also provide forcommunication connections among the modular components such that power,control signals or commands, video, and any other form of communicationcan be transported or communicated among the modular components.

In use, the various modular components and combination devices disclosedherein can be utilized with any known medical device control and/orvisualization systems, including those systems disclosed in theapplications incorporated above. These modular components andcombination devices can be utilized and operated in a fashion similar toany medical devices disclosed in those applications. For example, asshown in FIGS. 5A and 5B, a combination device or modular component 60can be utilized with an external magnetic controller 62. In thisembodiment, the device 60 has magnetic components (not shown) that allowthe device 60 to be in magnetic communication with the externalcontroller 62. It is understood that the device 60 can operate inconjunction with the external controller 62 in the same fashiondescribed in the applications incorporated above.

In an alternative use, any of the individual modular components canoperate as an independent device as well. That is, it is understood thatany individual component can be inserted into a body cavity and operatedwithout coupling it to any other modular components. As such, eachmodular component can also be considered a separate device.

In another similar example as depicted in FIGS. 6A and 6B, a combinationdevice or modular component 70 can be utilized with an externalcontroller and visualization component 72. In this embodiment, thedevice 70 has magnetic components (not shown) that allow the device 70to be in magnetic communication with the external controller 72 andfurther has arms 74A, 74B that can be operated using the controller 72.It is understood that the device 70 can operate in conjunction with theexternal component 72 in the same fashion described in the applicationsincorporated above.

According to one implementation, a modular device can be used for avariety of surgical procedures and tasks including, but not limited to,tissue biopsy and tissue retraction. For example, as shown in FIGS. 7Aand 7B in accordance with one embodiment, a device 80 having a grasper82 can be used to retract the gall bladder 84 during a cholecystectomyprocedure.

In accordance with one alternative, any of the modular componentsdisclosed herein can be assembled into the combination device prior toinsertion into the patient's cavity. One exemplary embodiment of such acombination device is set forth in FIGS. 8A and 8B, which depict acombination device 120 having modular components 122A, 122B, 122C, 122D,122E that are coupled to each other using hinge or rotational joints124A, 124B, 124C, 124D, 124E (as best shown in FIG. 8B). This device 120as shown can fold together or otherwise be configured after insertion asshown in FIG. 8A. One advantage of this embodiment, in which the modularcomponents 122A-122E are coupled to each other, is that in vivo assemblyof the combination device 120 is simplified.

In a further alternative embodiment as best shown in FIG. 9, any of themodular components disclosed or contemplated herein are insertedseparately into the target cavity and subsequently assembled with themodular components being connected end-to-end (in contrast to aside-by-side configuration similar to that depicted in FIGS. 1A-1C).More specifically, the combination device 130 in FIG. 9 has threemodular components 132, 134, 136. One of the components is a cameramodular component 132, while the other two are robotic arm modularcomponents 134, 136. These three components 132, 134, 136 are connectedto form the tripod-like combination device 130 as shown.

In yet another implementation, FIG. 10 depicts another combinationdevice 140 having a generally triangular configuration. That is, thedevice 140 has three arm modular components 142, 144, 146 that arecoupled together end-to-end, with each component 142, 144, 146 having anarm 148, 147, 149, respectively. In one embodiment, the three-armedrobot could be assembled using three one-arm segments as shown in FIG.10. Alternatively, the three-armed robot could be assembled by linkingthree modular bodies end-to-end and coupling an arm component to eachlinkage of the modular bodies.

Alternatively, additional modular components could be added to atripod-like combination device such as the devices of FIGS. 9 and 10.For example, one or more additional modular components could bepositioned adjacent and parallel to one or more of the threepreviously-coupled modular components such that one or more sides of thethree sides have a “stacked” configuration with at least two modularcomponents stacked next to each other.

As mentioned above, according to one embodiment, a particularly usefulaspect of using modular medical devices during medical procedures,including modular robotic and/or in vivo devices as described herein, isthe ability to insert multiple modular components, such as any of themodular components described or contemplated herein, into a patient'sbody and subsequently assemble these into a more complex combinationdevice in vivo. In one implementation, more than one modular componentis inserted or positioned in the patient's body (through a naturalorifice or more conventional methods) and then the components are eithersurgically assembled or self-assembled once inside the patient's body,in a location such as the peritoneal cavity, for example.

Surgical (or procedural) assembly can involve the surgeon attaching themodular components by using standard laparoscopic or endoscopic tools,or could involve the surgeon using specifically developed tools for thispurpose. Alternatively, surgical assembly could instead or furtherinclude the surgeon controlling a robotic device disposed within thepatient's body or exterior to the body to assemble the modularcomponents. Self assembly, on the other hand, can involve the modularcomponents identifying each other and autonomously assemblingthemselves. For example, in one embodiment of self assembly, the modularcomponents have infrared transmitters and receivers that allow eachcomponent to locate attachment points on other components. In anotherexample, each modular component has a system that utilizes imaging toidentify patterns on other modular components to locate attachmentpoints on those other components. In a further alternative, assemblycould also include both surgical and self-assembly capabilities.

After the surgical procedure is completed, the components aredisassembled and retracted. Alternatively, the robotic device or systemcan be configurable or reconfigurable in vivo to provide differentsurgical features during different portions of the procedure. That is,for example, the components of the device or devices can be coupledtogether in one configuration for one procedure and then disassembledand re-coupled in another configuration for another procedure.

One further exemplary embodiment of a suite of modular components is setforth in FIGS. 11-17. It is understood that such a suite of componentscan be made available to a surgeon or user, and the surgeon or user canutilize those components she or he desires or needs to create thecombination device desired to perform a particular procedure. In oneembodiment, since the devices and components are modular, the user (orteam) can assemble the procedure-specific robotic device or devices invivo at the onset of the procedure.

The modular components can include any known procedural or operationalcomponent, including any component discussed elsewhere herein (such asthose depicted in FIGS. 1A-4, and/or 8A-10) or any component disclosedin the applications incorporated above that can be used as modularcomponent. For example, the various modular components depicted in FIGS.11-17 include a variety of different operational components or othertypes of components, as will be described in further detail below.

More specifically, FIGS. 11-13 depict various modular combination deviceembodiments having a body that is coupled to at least one arm componentand a lockable tube. For example, FIG. 11 shows a combination device 150having a body 152 coupled to three operational arm components 154A,154B, 154C, and a lockable tube 156. In one aspect, the body 152 canalso have at least one magnet 158 (or two magnets as depicted in thefigure) that can be used to position the device within the patient'scavity. That is, according to one implementation similar to thosedescribed above in relation to other devices, the magnet(s) 158 can bemagnetically coupled to an external magnet controller or visualizationcomponent to position the device 150.

The lockable tube 156 can be a reversibly lockable tube as disclosed inU.S. application Ser. No. 12/171,413, filed on Jul. 11, 2008, which isincorporated by reference above. The tube 156 and device 150 can beoperated in any fashion as described in that application. Alternatively,the tube 156 can be a flexible tube that can be stabilized or held inplace using a series of magnets adjacent to or near the flexible tube ora series of needles inserted through the external wall of the patient'sbody. For example, magnets can be positioned in one or more of themodular components of the flexible tube. In use, one or more magnets arepositioned externally with respect to the target cavity in such afashion as to position the tube and/or robotic device into the desiredlocation.

In use, as also described in the above-incorporated application, areversibly lockable tube and robotic device (such as, for example, thetube 156 and device 150 depicted in FIG. 11) can be used together toaccomplish various tasks. That is, the tube can be operably coupled tothe device (as shown in FIG. 11, for example) and contain any requiredconnection components such as connections for hydraulic, pneumatic,drive train, electrical, fiber optic, suction, or irrigation systems, orany other systems or connections that require physical linkages betweenthe device positioned in the patient's body and some external componentor device. In one embodiment, the robotic device is first positioned atthe desired location in the patient's body and then the tube is insertedand connected to the device. Alternatively, the robotic device can becoupled to the tube prior to insertion, and then both the device and thetube are inserted into the patient's body and the device is thenpositioned at the desired location.

FIGS. 12A-12C depict another embodiment of a combination device coupledto a lockable tube. More specifically, FIGS. 12A, 12B, and 12C depict acombination device 160 having a body 162 coupled to one operational armcomponent 164 and a lockable tube 166. As with the device in FIG. 11,the body 162 has two magnets 168 that can be used in conjunction with anexternal magnet controller to position the device 160 and tube 166 asdesired by the user. Alternatively, the body 162 can have one magnet ormore than two magnets. In addition, according to one embodiment as bestshown in FIG. 12A, the device 160 and the tube 166 can be initiallyunattached. Prior to use, the body 162 and tube 166 can be coupled asbest shown in FIG. 12B. In one embodiment, the body 162 and tube 166 canbe coupled prior to insertion or alternatively can be coupled after thedevice 160 and tube 166 have been positioned in the desired location inthe patient's body.

FIG. 13 shows another embodiment of another combination device 170similar to those depicted in FIGS. 11-12C except that the body 172 iscoupled to the tube 174 at a location along the body 172 rather than atan end of the body 172. It is further understood that a tube asdisclosed herein can be coupled to any of these combination devices atany point along the body or any of the modular components.

Another example of a combination device that is made up of a suite ofmodular components is set forth in FIG. 14. The combination device 180has an imaging modular component 182 (also referred to as a “module”),two cautery arms or modules 184A, 184B, and two grasper arms or modules186A, 186B. It is understood that the imaging module 182 in thisembodiment is the body 182 of the device 180, but could also be an armin another implementation. It is further understood that the variousmodules 184, 186 coupled to the device 180 could be configured in anyconfiguration.

An alternative combination device embodiment utilizing various modulesfrom a suite of modular components is depicted in FIG. 15. This device190 has an imaging module 192, a cautery module 194, a grasper module196, and a lighting module 198. Similarly, FIG. 16 depicts yet anotheralternative combination device 200 having an imaging module 202, alighting module 204, a cautery module 206, and two grasper modules 208.

FIG. 17 depicts a further alternative implementation of a fullyassembled combination device 210 having a body 212, two cautery modules214A, 214B, and two grasper modules 216A, 216B. As shown in the figure,each of the modules is coupled to the body via a hinge coupling 218A,218B, 218C, 218D. Alternatively, the coupling can be any known coupling,including, for example, a pivotal coupling. In a further alternative,the non-arm modules can be substantially or removably fixed to the bodycomponent, such as the lighting module 204 depicted in FIG. 16.

It is understood that any number of additional exemplary modularcomponents could be included in the suite of modular componentsavailable for use with these devices. For example, various additionalexemplary modules include, but are not limited to, an imaging module, asensor module (including a pH, humidity, temperature, and/or pressuresensor), a stapler module, a UV light module, an X-ray module, a biopsymodule, or a tissue collection module. It is understood that “module” isintended to encompass any modular component, including an arm or a bodyas discussed above.

Various modules including a variety of exemplary operational componentswill now be described. An operational component, as described herein, isgenerally associated with a robotic device, and may have one or moresubcomponents or functionalities. An operational component may also bereferred to as an “end effector.” It is generally understood that anyone of the exemplary operational components and modules described belowcan be included in a suite of modular components used to form therobotic devices as described herein according to the variousembodiments. In a further embodiment, any of the operational componentsdescribed herein can be used in conjunction with any non-modularversions of these devices or systems. Additionally, the exemplaryoperational components and modules can be used with other surgicalrobotic devices as are known to those of skill in the art.

FIGS. 18A and 18B depict a robotic device 300 according to oneembodiment. As shown in FIGS. 18A and 18B the device 300 has two arms312, 314 each having a first link 312 a, 314 a and a second link 312 b,314 b. Each arm 312, 314 also includes operational components 316, 318operably coupled at distal end 320, 322 of each arm 312, 314. Theoperational components 316, 318 can be the same or different from oneanother. In one embodiment, at least one of operational components 316,318 is a multi-functional operational component as described herein. Inanother embodiment, both of the operational components 316, 318 aremultifunctional operational components as described herein.“Multi-functional operational components” are operational componentscapable of performing more than one function.

In some embodiments, the robotic device 300 can also include a body 324that is a viewing module having appropriate lighting and/or a camera toassist in viewing the procedure. As shown in FIGS. 18A and 18B, the body324 is disposed between and is coupled to the two arms 312, 314.

FIG. 19A is a close-up schematic view of an operational component 330according to one embodiment. As shown in FIGS. 19A and 19B, theoperational component 330 is a grasper (also referred to herein as“forceps”) operably coupled to a distal end 332 of an arm 334 of anexemplary robotic device 340. According to one implementation, theforceps 330 are commercially-available forceps 330, such as the forcepsavailable from U.S. Surgical, a subsidiary of Covidien, located in NorthHaven, Conn.

As shown best in FIG. 19A, the grasper 330 includes a first arm 336 anda second arm 338. In this embodiment, the first arm 336 includes anirrigation component 342 coupled to the arm 336 including a nozzle 344and providing for irrigation with a liquid by ejecting the liquid fromthe nozzle 344. In addition, the second arm 338 includes a suctioncomponent 346.

In one implementation, the irrigation component 342 and suctioncomponent 346 are both thin-walled conduits made of a polymer. For eachcomponent 342, 346, the conduit (also referred to herein as “tubing”)can be commercially available extruded tubing of various sizes dependingon the specific application. Methods or techniques for attaching theconduit 342, 346 to the grasper 330 can include any appropriatefasteners or adhesives. According to one embodiment, the nozzle 344 canbe a commercially available nozzle, or alternatively can be aspecifically designed nozzle that directs the fluid flow as needed.

In accordance with a further alternative embodiment, each of the suction346 and irrigation 342 components are manufactured as part of thegrasper arms 336, 338. More specifically, the suction component 346 isan integral component of and/or is manufactured as a part of the grasperarm 338, while the irrigation component 342 is an integral component ofand/or is manufactured as a part of the grasper arm 336. For example,according to one implementation, the conduits could be formed in thestructure of the grasper arms 336, 338 such that the conduits do notprotrude from the side of the arms 336, 338. Alternatively, the grasperarms 336, 338 could be molded such that the conduits are disposed withinthe arms 336, 338. For example, the arm and conduit can be manufacturedusing stainless steel through a metal injection molding process. In afurther alternative, the conduits could be machined into the arms 336,338 by any traditional machining techniques. In yet another alternative,the grasper arm 336, 338 and conduit are manufactured using apolymer-based rapid prototyping method such as stereolithography.Alternatively, the conduits could be formed in the structure of the arms336, 338 by any known technique.

FIG. 19B provides a complete view of the robotic device 340 to which theoperational component 300 is coupled. As shown in FIG. 19B, theirrigation component 342 has an irrigation connection component 352(also referred to as an “irrigation line” or “irrigation tube”) that isconnected at one end to the component 342 and at the other end to aliquid source 354. According to one embodiment, the irrigationconnection component 352 is a thin-walled conduit made of a polymer. Inembodiments in which the irrigation component 342 is a part of thegrasper arm 336, the polymer conduit of the connection component 352connects or couples to the irrigation component 342 at a proximal end356 of the grasper arm 26.

In some embodiments, as shown in FIG. 19B, the liquid source 354 is anexternal liquid source 354 and is disposed at a location or positionthat is external to the robotic device 340. A pump (not shown) is alsoprovided to power the irrigation component 342. In one embodiment, thepump can be a commercially-available surgical irrigation pump such asthose available from Nellcor (a subsidiary of Covidien) or KMC Systemswhich is located in Merrimack, N.H. The pump, and thus the irrigationcomponent 342, can be controlled by a controller (not shown) ormicroprocessor, which can be associated with or coupled to the pump. Thecontroller or microprocessor may be associated with or connected to thepump via a wired or wireless connection.

In other embodiments, the liquid source 354 can be associated with,incorporated into, or disposed within the robotic device 340. In oneembodiment, a pump can be operatively coupled to the liquid source 354.The pump can be a mechanical bellow, a mechanical pump, or any knownpump suitable for use with an irrigation system such as any of theirrigation embodiments disclosed herein. In still other embodiments, theliquid source 354 is a pressurized reservoir that does not require anauxiliary pump.

According to a further embodiment, the irrigation component 354 can beused to deliver a drug or combination of drugs to the procedure site orother site within a patient's body as designated by the clinician. Thedrugs or any other type of treatment composition can be provided influid or gel form or any other form that can be injected via a deliverydevice. In one embodiment, these drugs could include chemotherapy drugs.

As also shown in FIG. 19B, the suction component 346 has a suctionconnection component 362 connected to the component 346 and furtherconnected to a suction source 364. According to one embodiment, thesuction connection component 362 is a thin-walled conduit made of apolymer. In embodiments in which the suction component 346 is a part ofthe grasper arm 338, the polymer conduit of the connection component 362connects or couples to the suction component 346 at a proximal end 366of the grasper arm 28.

In one embodiment, as shown in FIG. 19B, the suction source 364 is anexternal suction source 364 and is disposed at a location or positionthat is external to the robotic device 340. A pump (not shown) is alsoprovided to power the suction source 364. According to one embodiment,the pump is a commercially-available aspiration suction unit such as thedevices available from Paragon Medical, located in Pierceton, Ind. Thepump, and thus the suction component 346, can be controlled by acontroller or microprocessor (not shown), which can be associated withor coupled to the pump by a wired or a wireless connection. In otherembodiments, the suction source 64 can be associated with, incorporatedinto, or disposed within the robotic device 340. In one embodiment, apump is coupled to the suction source. The pump can be a mechanicalbellow, a mechanical pump, or any known pump for use with a suctionsystem such as any of the suction embodiments disclosed herein. In stillother embodiments, the suction source is a vacuumed reservoir that doesnot require an additional pump.

FIGS. 20A and 20B depict another embodiment of a grasper 400 of arobotic device 410 in which the first arm 412 includes a cauterycomponent 414 coupled with or integrated into the first arm 412.According to one embodiment, the cautery component 414 is a wire 414coupled to the first arm 412. The cautery component 414 can be any wire414 having a large electrical resistance such that it is heated bypassing an electrical current through the wire 414. In one embodiment,the cautery wire 414 is composed of a metal alloy that provides a veryhigh electrical resistance. One example of the composition of the wire414 is commercially-available 80/20 Nickel-Chrome alloy (80% Nickel, and20% Chrome).

According to some embodiments, as shown in FIG. 20A, the second arm 416of the grasper 400 can also include a cautery component 418. In someembodiments, only one of the two arms 412, 416 has a cautery component.

In one implementation, the cautery wire 414 and/or 418 is secured to thegrasper arm 412 and/or 416 using high-temperature adhesives ormechanical fasteners. In another embodiment, the arms 412, 416 of thegrasper 400 are metal injection molded and the cautery wire 414 and/or416 is molded into the arm 52. In one embodiment, the cautery component414 and/or 416 can be attached to the inside of the arm 412 and/or 416,or along the side or bottom of the grasper arm 412 and/or 416, dependingon the specific application. In a further embodiment, the cauterycomponent 414 and/or 416 can be attached to a distal tip 420 and/or 422of the arm 412 and/or 414.

An insulation component (not shown) is provided in certain embodimentsbetween the cautery component 414 and the first arm 412, therebyelectrically isolating the cautery component 414 from the first arm 412and preventing the arm 412 from acting as a heat sink or otherwisereducing the effectiveness of the cautery component 414. A similarconfiguration can also be provided for the cautery component 418 on thesecond arm 416 when such a cautery component 418 is provided.

FIG. 20B provides a complete view of the robotic device 410 to which theoperational component 400 is coupled. As shown in FIG. 20B, the cauterycomponent 414 is coupled to an external power source 424 via anelectrical connection 426 that runs through the robotic device 410. Inthis embodiment, while the cautery component 414 can be a highresistance wire 414, the electrical connection 426 connecting thecomponent 400 to the power source 424 is not a high resistance wire. Theexternal power source 424 can be any power source that is positioned ata location external to the robotic device 410. In one exemplaryembodiment, the power source 424 is a battery. Alternatively, the powersource 424 can be associated with, incorporated into, or disposed withinthe robotic device 410.

According to some embodiments, a controller or microprocessor (notshown), is provided for control of the cautery component 414. In oneembodiment, the controller can be a switch that is positioned on theexternal power source 424. In other embodiments, the controller can be aseparate component that is coupled to the power source 424 via a wiredor a wireless connection. In implementations in which the power source424 is an internal power source, the controller is provided as aseparate component.

In some embodiments, there is no need for actuating the cauterycomponent 414 with a switch or other type of separate cauterycontroller. For example, the cautery component 414 depicted in FIG. 20Cis actuated when the grasper arms 412, 416 are positioned within acertain proximity of each other. In this embodiment, as the grasper arms412, 416 are moved closer to each other and pass a predeterminedthreshold, the cautery component 414 is actuated. According to oneembodiment, this functionality is accomplished with a sensor 430. Thesensor 430 senses the positioning of the arms 412, 416 and actuates thepower source (not shown) when the arms 412, 416 pass a predeterminedlocation or position. In one embodiment, the sensor 430 is positioned inthe robotic arm 432 and operatively coupled to the grasper arms 412, 416as depicted. Alternatively, the sensor 730 can also be positioned on oneof the grasper arms 412, 416.

In one embodiment, the sensor 430 is a commercially-available infraredsensor. For example, the sensor 430 could be a sensor such as thesensors manufactured by Fairchild Semiconductor, located in SouthPortland, Me. Alternatively, the sensor 430 is a commercially-availablerotational or translational variable resistance potentiometer.

According to another implementation, the multifunctional operationalcomponent can be a biopsy component. For example, FIGS. 21A, 21B, and21C depict a grasper 450 including a first arm 452 and a second arm 454.The first arm 452 includes a biopsy component 456. In other embodiments,both grasper arms 452, 454 include a biopsy component such that morethan one tissue sample can be taken. In still another embodiment, one orboth of the arms 452, 454 can include more than one biopsy component.

In one implementation, the biopsy component includes a reservoir 458 anda cutting tool 460. The cutting tool can be a knife blade, a rotarycutter, or other cutting instrument. In the implementation depicted inFIGS. 21A and 21B, the knife 460 is slidable between a closed and anopen position. In the closed position, the cutting tool 460 ispositioned to cover the reservoir 458 and thereby act as a lid or coverfor the reservoir 458. In the open position, the cutting tool 460 ispositioned adjacent to the reservoir 458 with the cutting edge 462adjacent to the reservoir 458.

In use, according to one embodiment, the cutting tool 460 can be used toobtain a biopsy sample in the following manner. The cutting tool 460 ispositioned or urged into the open position (position A as shown in FIG.21A). In this position, the reservoir 458 is exposed or open. The arms452, 454 can then be used to grasp or otherwise be positioned withrespect to a specimen of interest such that the cutting tool 460 canthen be urged or otherwise moved toward the closed position B. As thecutting tool 460 moves toward the closed position B, the cutting edge462 contacts the specimen of interest and cuts the specimen. Then, asthe cutting tool 460 reaches the closed position B (shown in FIG. 21B),the cut portion of the specimen is positioned in the reservoir 458 andthe cutting tool 460 is positioned in the closed position B, therebyclosing the opening of the reservoir 458 and retaining the cut specimenin the reservoir 458.

In another embodiment, the cutting tool 460 and the reservoir cover orlid are separate components in which the cutting tool 460 is used to cutthe specimen and the cover or lid is used to cover or close thereservoir 448.

According to the embodiments depicted in FIGS. 21A and 21B, the cuttingtool 90 travels between position A and position B along a track (notshown) that is formed into or associated with the grasper arm 452. Inanother embodiment, the cutting tool 460 can operate by rotating in aplane parallel with the grasper face as shown in FIG. 21C.

According to some embodiments, the biopsy component 456 can include acutting tool actuation component (not shown). The cutting tool actuationcomponent can be a pre-loaded spring or series of pre-loaded springsthat move between a coiled or tensioned position and an uncoiled orreleased position to actuate the cutting tool to slide shut over thereservoir. For example, in one embodiment, the pre-loaded spring isoperably coupled to a switch (not shown) positioned either in thegrasper 450 or the robotic arm to which the grasper 450 is coupled. Theswitch releases the spring from its coiled or tensioned position. Thus,actuating the switch releases the spring and urges the cutting tool 460to slide shut over the reservoir. This switch can be an SMA (shapememory alloy) or solenoid coil. Actuation of the switch allows thepre-loaded springs to push against the cutting tool 460, thereby urgingthe cutting tool 460 to move between the open and closed positions.

In another embodiment, the pre-loaded spring or springs could bemechanically triggered when the grasper arms are sufficiently closed.Alternatively, the cutting tool actuation component could be coupled tothe grasper 450. In this embodiment, when the biopsy component 450 isengaged, the cutting tool is actuated as the grasper arms 452, 454 areclosed. In still other embodiments, the cutting tool 460 could beactuated by a small onboard motor and lead screw.

FIG. 22 depicts yet another embodiment of a grasper 470 in which thefirst arm 472 is equipped with at least one sensor 474. The sensor 474Ais positioned on the back side 476 (away from the other grasper arm 478)of the grasper arm 472. A second sensor 474B is positioned on the frontside 480 (toward the other arm) of the grasper arm 472. The first andsecond sensors 474A and 474B can be the same or different type ofsensor. In a further embodiment, a single sensor can be provided andpositioned on either side of the arm 472. In yet another embodiment,another sensor 475 can be positioned on or otherwise coupled to therobotic arm 484.

In one embodiment, each sensor 474A, 474B comprises an electronicspackage that includes a commercially-available sensor solid state chip(pH, humidity, pressure, temperature, etc.) and supporting capacitorsand resistors. This electronics package is electrically connected to themain circuit board (not shown) in the robotic device base and the sensorreadings are transmitted to an external display either in a wireless orwired fashion. This package can be placed in the robot arm 484 or in thegrasper 470 so that each sensor 474A, 474B is exposed to the environmentaround the robotic device.

FIG. 23 is a close-up schematic view of an operational component 490according to yet another embodiment. The operational component 490 is asensor 490 and is coupled to a distal end 492 of an arm 494 of a roboticdevice (not shown). The sensor 490 can be any sensor capable ofdetecting a physiological parameter within a patient's body including,but not limited to pH, humidity, pressure, or temperature. In someembodiments, the sensor 490 is capable of detecting all or somecombination of those parameters.

The sensor can be configured in any known fashion using knowncomponents. The supporting electronics can include resistors,capacitors, and oscillators that are used to drive the sensors. Outputfrom these sensors will be a data stream transmitted to the externalconsole either wirelessly, or through the tether cable connected to therobot. In these embodiments, the power can be supplied by a battery. Inanother embodiment, the power and non-essential supporting electronicscan be provided in a location external to the patient so that only thesensor is onboard. According to one embodiment, power requirements forthe various sensors can be met with power supplied from a standard walloutlet. Such power can be down-regulated through power regulators in theconsole that connect with the robotic device.

In yet another embodiment, the sensor 490 can be an ultrasoundtransducer including a transmitter and receiver, or an infraredtransducer including a transmitter and receiver. The ultrasoundtransducer 490 can be a commercially-available system that is routinelyused at the tip of an endoscope, which is commonly referred to asEndoscopic Ultrasound (“EUS”). In the standard technologies, placing thetransducer on the tip of an endoscope allows the transducer to get closeto the organs inside the body. Because of the proximity of the EUStransducer to the organ(s) of interest, the images obtained arefrequently more accurate and more detailed than the ones obtained bytraditional ultrasounds. Attaching the ultrasound transducer 490 to thedistal end 492 of the robotic arm 494 of one embodiment of the variousdevices disclosed herein allows even greater access to the organ ofinterest. In some embodiments, the supporting electronics can bepositioned inside the robotic arm 494 or elsewhere in the roboticdevice. In other embodiments, the supporting sensor electrics may belocated external to the patient, while only the ultrasonic transducer490 is provided onboard the robotic device.

FIG. 24 depicts another embodiment of a grasper 500 including at least afirst arm 502 equipped with at least one treatment module 504. Thetreatment module 504 can be provided either on the front side 506 or theback side 508 of the grasper arm 502 or both, as shown. Alternatively,more than one treatment module 504 can be provided in any configuration.If more than one treatment module is provided, the treatment modules 504can have the same or different functions as one another.

In another embodiment depicted in FIG. 25, an operational module 510that is a treatment module can be coupled directly to a distal end 512of the robotic device arm 514. According to certain embodiments, thetreatment module 510 can provide, but is not limited to providing,treatment at the site of interest through the use of RF (radiofrequency) ablation, microwave ablation, and ultrasonic ablation. In oneembodiment, the treatment module 510 is a commercially-availablemicroware or ultrasonic ablation transducer used commonly incatheter-based systems.

According to one implementation, any one of the robotic devicesdiscussed herein can have a power source and/or a processing unit tooperate any embodiment of a treatment module such as the treatmentmodule described above. In one embodiment, the power source and/orprocessing unit are disposed within, attached to, or otherwiseassociated with the device. According to one embodiment, the powersource is a battery. In another embodiment, the power source and dataprocessing can be positioned in a location external to the roboticdevice so that only the treatment module, and any essential supportingelectronics, is coupled to the robotic device.

In one embodiment, the mechanical and electrical couplings between themodular robotic sections are universal to help facilitate ease ofassembly. That is, the couplings or connections are universal such thatthe various modules can be easily and quickly attached or removed andreplaced with other modules. Connections can include friction fits,magnets, screws, locking mechanisms and sliding fitting. Alternatively,the connections can be any known connections for use in medical devices.In use, the couplings can be established by the surgeon or useraccording to one implementation. Alternatively, the couplings can besemi-automated such that the components are semi-self-assembling toimprove timeliness.

Modular components need not be arms or other types of components havingoperational components or end effectors. According to variousalternative embodiments, the modular components can be modularmechanical and electrical payload packages that can be used together invarious combinations to provide capabilities such as obtaining multipletissue samples, monitoring physiological parameters, and wirelesscommand, control, and data telemetry. It is understood that the modularpayload components can be incorporated into all types of medicaldevices, including the various medical devices discussed andincorporated herein, such as magnetically controllable devices and/orwheeled devices similar to those disclosed in the applicationsincorporated above.

FIG. 26A shows one embodiment of a device 520 having a payload area 522that can accommodate various modular components such as environmentalsensors, biopsy actuator systems, and/or camera systems. Morespecifically, the payload area 522 is configured to receive any one ofseveral modular components, including such components as the sensor,controller, and biopsy components discussed herein. It is understoodthat in addition to the specific modular components disclosed herein,the payload areas of the various embodiments could receive any knowncomponent to be added to a medical procedural device.

It is further understood that the robotic device having the payload areacan be any known robotic device, including any device that is positionedsubstantially adjacent to or against a patient cavity wall (such as viamagnetic forces), and is not limited to the robotic devices described indetail herein. Thus, while the robotic device embodiments depicted inFIGS. 26A and 26B (discussed below) are mobile devices having wheels,the various modular components described herein could just as readily bepositioned or associated with a payload area in any other kind ofrobotic device or can further be used in other medical devices andapplications that don't relate to robotic devices.

Returning to FIG. 26A, in this embodiment, the device is not tetheredand is powered by an onboard battery 524. Commands can be sent to andfrom the device using an RF transceiver placed on a circuit board 526.Alternatively, the device 520 can be tethered and commands and power canbe transmitted via the tether.

In the embodiment of FIG. 26A, the wheels 528A and 528B are powered byonboard motors 530A and 530B. Alternatively, the wheels 528A, 528B andother components can be actuated by any onboard or external actuationcomponents. The wheels 528 in this implementation are connected to themotors 530 through a bearing 532 and a set of spur gears 534 and 536.Alternatively, any known connection can be used. The use of independentwheels allows for forward, reverse, and turning capabilities. In thisembodiment, a small retraction ball 538 is attached to the outside ofeach wheel for retraction using a surgical grasper. Alternatively, noretraction component is provided. In a further alternative, any knownretraction component can be included.

FIG. 26B shows yet another embodiment of a device 540 having a payloadarea 542. In this embodiment, the modular component in the payload area542 is a sensor component. It is further understood that, according tovarious other implementations, more than one modular component can bepositioned in the payload area 542 of this device 540 or any otherdevice having a payload area. For example, the payload area 542 couldinclude both a biopsy component and a sensor component, or both a biopsycomponent and a controller component. Alternatively, the payload area542 could include any combination of any known functional components foruse in procedural devices.

In accordance with one implementation, one component that can beincluded in the payload area 542 is a sensor package or component. Thesensor package can include any sensor that collects and/or monitors datarelating to any characteristic or information of interest. In oneexample, the sensor package includes a temperature sensor.Alternatively, the package includes an ambient pressure sensor thatsenses the pressure inside the body cavity where the device ispositioned. In a further alternative, the package can include any one ormore of a relative humidity sensor, a pH sensor, or any other known typeof sensor for use in medical procedures.

The modular components and combination devices disclosed herein alsoinclude segmented triangular or quadrangular-shaped combination devices.These devices, which are made up of modular components (also referred toherein as “segments”) that are connected to create the triangular orquadrangular configuration, can provide leverage and/or stability duringuse while also providing for substantial payload space within the devicethat can be used for larger components or more operational components.As with the various combination devices disclosed and discussed above,according to one embodiment these triangular or quadrangular devices canbe positioned inside the body cavity of a patient in the same fashion asthose devices discussed and disclosed above.

FIGS. 27A-32 depict a multi-segmented medical device 550, in accordancewith one implementation. According to one embodiment, the device 550 isa robotic device 550 and further can be an in vivo device 550. Thisdevice embodiment 550 as shown includes three segments 552A, 552B, 554.Segments 552A and 552B are manipulator segments, while segment 554 is acommand and imaging segment. Alternatively, the three segments can beany combination of segments with any combination of components andcapabilities. For example, according to an alternative embodiment, thedevice could have one manipulator segment, one command and imagingsegment, and a sensor segment. In a further alternative, the varioussegments can be any type of module, including any of those modulesdescribed above with respect to other modular components discussedherein.

As best shown in FIGS. 27A and 27B, segments 552A, 552B are rotatablycoupled with the segment 554 via joints or hinges 556A, 556B. Morespecifically, segment 552A is rotatable relative to segment 554 aboutjoint 556A around an axis as indicated by arrow B in FIG. 27B, whilesegment 552B is rotatable relative to segment 554 about joint 556Baround an axis as indicated by arrow C in FIG. 27B.

In accordance with one embodiment, the device 550 has at least twoconfigurations. One configuration is an extended or insertionconfiguration as shown in FIG. 27A in which the three segments 552A,552B, 554 are aligned along the same axis. The other configuration is atriangle configuration as shown in FIG. 27B in which the manipulatorsegments 552A, 552B are each coupled to the segment 554 via the joints556A, 556B and further are coupled to each other at a coupleableconnection 558 at the ends of the segments 552A, 552B opposite thejoints 556A, 556B.

As best shown in FIG. 28A, each of the manipulator segments 552A, 552Bin this particular embodiment has an operational arm 560, 562(respectively). Each arm 560, 562 is moveably coupled to its respectivesegment 552A, 552B at a joint 564A, 564B (respectively) (as best shownin FIG. 30). Further, segment 554 has a pair of imaging components (eachalso referred to herein as a “camera”) 566A, 566B (as best shown in FIG.29).

In one embodiment, each arm 560, 562 is configured to rotate at itsjoint 564A, 564B in relation to its segment 552A, 552B to move betweenan undeployed position in which it is disposed within its segment 552A,552B as shown in FIG. 27B and a deployed position as shown in FIG. 28A.In one example, arm 560 is rotatable relative to segment 552A aboutjoint 564A in the direction shown by G in FIG. 30, while arm 562 isrotatable relative to segment 552B about joint 564B in the directionshown by H in FIG. 30. Alternatively, the arms 560, 562 are moveable inrelation to the segments 552A, 552B in any known fashion and by anyknown mechanism.

According to one embodiment as best shown in FIG. 28A, each arm 560, 562has three components: a proximal portion 560A, 562A, a distal portion560B, 562B, and an operational component 560C, 562C coupled with thedistal portion 560B, 562B, respectively. In this embodiment, the distalportion 560B, 562B of each arm 560, 562 extends and retracts along thearm axis in relation to the proximal portion 560A, 562A while alsorotating around that axis in relation to the proximal portion 560A,562A. That is, distal portion 560B of arm 560 can move back and forthlaterally as shown by the letter Kin FIG. 30 and further can rotaterelative to the proximal portion 560A as indicated by the letter J,while distal portion 562B of arm 562 can move back and forth laterallyas shown by the letter L in FIG. 30 and further can rotate relative tothe proximal portion 562A as indicated by the letter I.

In accordance with one implementation, the operational components 560C,562C (also referred to herein as “end effectors”) depicted in FIG. 28Aare a grasper 560C and a cautery hook 562C. It is understood that theoperational component(s) used with the device 550 or any embodimentherein can be any known operational component for use with a medicaldevice, including any of the operational components discussed above withother medical device embodiments and further including any operationalcomponents described in the applications incorporated above.Alternatively, only one of the two arms 560, 562 has an operationalcomponent. In a further alternative embodiment, neither arm has anoperational component.

Alternatively, each arm 560, 562 comprises one unitary component or morethan two components. It is further understood that the arms 560, 562 canbe any kind of pivotal or moveable arm for use with a medical devicewhich may or may not have operational components coupled or otherwiseassociated with them. For example, the arms 260, 262 can have astructure or configuration similar to those additional arm embodimentsdiscussed elsewhere herein or in any of the applications incorporatedabove. In a further alternative, the device 550 has only one arm. In afurther alternative, the device 550 has no arms. In such alternativeimplementations, the segment(s) not having an arm can have othercomponents associated with or coupled with the segment(s) such assensors or other types of components that do not require an arm foroperation.

As discussed above, the segment 554 of the embodiment depicted in FIG.29 has a pair of cameras 566A, 566B. Alternatively, the segment 554 canhave a single camera or two or more cameras. It is understood that anyknown imaging component for medical devices, including in vivo devices,can be used with the devices disclosed herein and further can bepositioned anywhere on any of the segments or on the arms of thedevices.

In a further embodiment, the segment 554 as best shown in FIG. 29 canalso include a lighting component 568. In fact, the segment 554 has fourlighting components 568. Alternatively, the segment 554 can have anynumber of lighting components 568 or no lighting components. In afurther alternative, the device 550 can have one or more lightingcomponents positioned elsewhere on the device, such as one or both ofsegments 552A, 552B or one or more of the arms, etc.

In accordance with a further embodiment as best shown in FIGS. 27B and29, each of the segments 552A, 552B, 554 has two cylindricalcomponents—an outer cylindrical component and an inner cylindricalcomponent—that are rotatable in relation to each other. Morespecifically, the segment 552A has an outer cylindrical component 570Aand an inner cylindrical component 570B that rotates relative to theouter component 570A around an axis indicated by arrow F in FIG. 21.Similarly, the segment 552B has an outer cylindrical component 572A andan inner cylindrical component 572B that rotates relative to the outercomponent 572A around an axis indicated by arrow E in FIG. 29. Further,the segment 554 has an outer cylindrical component 574A and an innercylindrical component 574B that rotates relative to the outer component574A around an axis indicated by arrow D in FIG. 29.

In use, the embodiments having rotatable cylindrical components asdescribed in the previous paragraph can provide for enclosing any arms,cameras, or any other operational components within any of the segments.Further, any segment having such rotatable components provide for twosegment configurations: an open configuration and a closedconfiguration. More specifically, segment 552A has an outer cylindricalcomponent 570A with an opening 576 as shown in FIG. 29 through which thearm 560 can move between its deployed and undeployed positions.Similarly, segment 552B has an outer cylindrical component 572A with anopening 578 as shown in FIG. 29 through which the arm 562 can movebetween its deployed and undeployed positions. Further, segment 554 hasan outer cylindrical component 574A with an opening 580 as shown in FIG.29 through which the imaging component(s) 566A, 566B can capture imagesof a procedural or target area adjacent to or near the device 550.

FIG. 27B depicts the segments 552A, 552B, 554 in their closedconfigurations. That is, each of the inner cylindrical components 570B,572B, 574B are positioned in relation to the respective outercylindrical component 570A, 572A, 574A such that each opening 576, 578,580, respectively, is at least partially closed by the inner component570B, 572B, 574B such that the interior of each segment 552A, 552B, 554is at least partially inaccessible from outside the segment.

More specifically, in the closed position, inner cylindrical component570B of segment 552A is positioned in relation to outer cylindricalcomponent 570A such that the arm 560 is at least partially enclosedwithin the segment 552A. According to one embodiment, the innercylindrical component 570B is configured such that when it is in theclosed position as shown in FIG. 27B, it closes off the opening 576entirely. In a further embodiment, the inner cylindrical component 570Bin the closed position fluidically seals the interior of the segment552A from the exterior.

Similarly, in the closed position, inner cylindrical component 572B ofsegment 552B is positioned in relation to the outer cylindricalcomponent 572A such that the arm 562 is at least partially enclosedwithin the segment 552B. According to one embodiment, the innercylindrical component 572B is configured such that when it is in theclosed position as shown in FIG. 27B, it closes off the opening 578entirely. In a further embodiment, the inner cylindrical component 572Bin the closed position fluidically seals the interior of the segment552B from the exterior.

Further, in the closed position, inner cylindrical component 574B ofsegment 554 is positioned in relation to the outer cylindrical component574A such that the imaging component(s) is not positioned within theopening 580. According to one embodiment, the inner cylindricalcomponent 574B is configured such that when it is in the closed positionas shown in FIG. 27B, the imaging component(s) and any lightingcomponent(s) are completely hidden from view and not exposed to theexterior of the segment 554. In a further embodiment, the innercylindrical component 574B in the closed position fluidically seals theinterior of the segment 554 from the exterior.

In contrast, FIGS. 28A and 29 depict the segments 552A, 552B, 554 intheir open configurations. In these configurations, each of the innercylindrical components 570B, 572B, 574B are positioned such that theopenings 576, 578, 580 are open.

In use, according to one embodiment, the inner cylindrical components570B, 572B, 574B can thus be actuated to move between their closed andtheir open positions and thereby convert the device 550 between a closedor non-operational configuration (in which the operational componentssuch as the arms 560, 562 and/or the imaging components 566 and/or thelighting components 568 are inoperably disposed within the segments552A, 552B, 554) and an open or operational configuration (in which theoperational components are accessible through the openings 576, 578, 580and thus capable of operating). Thus, according to one implementation,the device 550 can be in its closed or non-operational configurationduring insertion into a patient's body and/or to a target area and thencan be converted into the open or operational configuration by causingthe inner cylindrical components 570B, 572B, 574B to rotate into theopen configurations.

Alternatively, one or more or all of the segments do not have inner andouter components that rotate in relation to each other.

It is understood that the various embodiments of the device 550disclosed herein include appropriate actuation components to generatethe force necessary to operate the arms and/or the rotatable cylindersin the segments. In one embodiment, the actuation components are motors.For example, segment 552A has a motor (not shown) operably coupled withthe arm 560 and configured to power the movements of the arm 560.Similarly, segment 552B also has a motor (not shown) operably coupledwith the arm 562 and configured to power the movements of the arm 560.In further embodiments, each of the segments 552A, 552B, 554 also havemotors (not shown) operably coupled to one or both of the inner andouter cylinder of each segment to power the rotation of the cylinders inrelation to each other. In one embodiment, each segment can have onemotor to power all drivable elements (arms, cylinders, etc.) associatedwith that segment. Alternatively, a separate motor can be provided foreach drivable element.

In one embodiment, the joints 556A, 556B are configured to urge thesegments 552A, 552B from the insertion configuration of FIG. 27A intothe triangular configuration of FIG. 27B. That is, the joints 556A, 556Bhave torsion springs or some other known mechanism for urging thesegments 552A, 552B to rotate around their joints 556A, 556B. Forexample, FIG. 28C depicts one embodiment in which the joint 556A hastorsion springs 582 that are configured to urge segment 552A toward thetriangular configuration.

In use, in accordance with one implementation, the device 550 in theinsertion configuration as shown in FIG. 27A can be inserted into apatient's body through an incision, a trocar port, or natural orifice inthe direction indicated by arrow A. Alternatively, the device 550 can beinserted in the other direction as well. After insertion and/or as thedevice 550 enters the target area or procedural area in the patient'sbody, the joints 556A, 556B with the torsion springs (or other standardmechanisms) urge the segments 552A, 552B from their insertion positionto their triangular position. As the segments 552A, 552B contact eachother to form joint 558, the two segments are coupled together withmating components that semi-lock the segments 552A, 552B together. Thatis, the two segments 552A, 552B can only be separated at the joint 558by a force sufficient to overcome the semi-lock. Any such known matingcomponent or coupling component, including any mechanical or magneticmating component(s), can be incorporated into the device 550 for thispurpose.

Thus, according to one embodiment, the device 550 can be in itsinsertion configuration during insertion into the patient. As the device550 enters the target cavity and exits the port or incision, the torsionsprings or other mechanisms at the joints 556A, 556B cause the twosegments 552A, 552B to move toward each other until they couple to formthe triangular configuration. The device 550 can then be attached to theabdominal wall by some method such as an external magnetic handle.Alternatively, the device 550 can be positioned anywhere in the cavityof the patient as desired by the user. The device 550 is then used toperform some sort of procedure.

Subsequently, when the procedure is complete, the device 550 can beretracted from the cavity. To do so, the surgeon uses a grasping orretrieval tool such as a Endo Babcock grasper made by Covidien inMansfield, Mass., to attach to or otherwise grasp the ball 584 at thejoint 558 and apply sufficient force to overcome the semi-lock of thejoint 558. Alternatively, any retrieval component can be positioned atthe end of segment 552A or elsewhere on the device 550 for grasping orotherwise coupling to for purposes of removing the device 550 from thepatient's body. When the coupling of the semi-lock is overcome, theforce urges the segments 552A, 552B away from each other, thereby makingit possible for the surgeon to pull the ball 584 through a port orincision and out of the patient, thereby forcing the device 550 into itsinsertion configuration.

The multiple segments provided in the various embodiments of the devicedisclosed herein result in significantly more payload space than asingle cylindrical body. The increased payload space results inincreased capabilities for the device in the form of more, bigger, ormore complex operational components, more, bigger, or more complexmotors, magnets (as described below) and other similar benefits relatingto the availability of more space for more, bigger, or more complexcomponents. For example, FIG. 28B depicts a side view of the device 550according to one embodiment that shows the payload space available insegment 552B. More specifically, segment 552B and its coupled arm 562have payload spaces 586, 588, 590, 592, 594 that can be used toaccommodate motors, operational components, sensors, magnets (asdescribed below) or any other type of component that could be useful fora procedural device. Similarly, each segment 552A, 552B, 554 can havesuch payload spaces. In addition, the segments 552A, 552B, 554 allow formaximization of the payload space available across the segments 552A,552B, 554 by distributing the components such as motors, operationalcomponents, or magnets to maximize their effectiveness while minimizingthe amount of space required by each such component. For example, itmight maximize effectiveness of the device 550 while minimizing theutilized space to have one large motor in one segment that providesforce for operation of components in more than one segment.

It is understood that various embodiments of the segmented devicesdisclosed herein are in vivo devices that can be inserted into andpositioned within a patient's body to perform a procedure. In oneembodiment, an external controller is also provided that transmitssignals to the device 550 to control the device 550 and receives signalsfrom the device 550. In one embodiment, the controller communicates withthe device 550 wirelessly. Alternatively, the controller and the device550 are coupled via a flexible communication component such as a cord orwire (also referred to as a “tether”) that extends between the device550 and the controller.

It is also understood that various embodiments of the devices disclosedherein can be used in conjunction with known attachment components toattach or otherwise position the device near, against, or adjacent to aninterior cavity wall inside the patient. In one embodiment, theattachment components are one or more magnets, disposed within thedevice, that communicate magnetically with one or more magnetspositioned outside the patient's body. The device magnets can bepositioned on or in the device in any suitable configuration. Forexample, the device magnets in one embodiment can be positioned withinthe segments 552A, 552B, 554 at positions 596, 598, 600 as shown in FIG.31. It is understood that the external magnets can be used outside thebody to position and/or move the device 550 inside the body.

It is further understood that various embodiments of the devicesdisclosed herein can be used in conjunction with known visualization andcontrol components, such as the console 610 depicted in FIG. 32. Theconsole 610 has a display 612 and magnets 614 and is positioned outsidethe patient such that the magnets 614 can be in magnetic communicationwith the device magnets (not shown) disposed within or otherwise coupledwith the device 550. The console 610 can be used to move the device 550by moving the console 610 outside the body such that the device 550 isurged to move inside the body, because the console magnets 550 aremagnetically coupled with the device magnets (not shown) within thedevice 550 such that the device 550 remains substantially fixed inrelation to the console 610. In addition, it is understood that thetriangular (and quadrangular) devices disclosed and described inrelation to FIGS. 27A-33 can be used in conjunction with any of theexternal controller or visualization components and systems disclosedand discussed above and in the applications incorporated above.

The segmented device 550, according to one embodiment, provides greaterstability and operability for the device 550 in comparison to other invivo devices. That is, a device having more than one segment such asdevice 550 provides for a configuration with a larger “footprint” forthe device 550, thereby resulting in greater stability and leverageduring use of the device 550. For example, the device 550 with thetriangular configuration in FIG. 32 that is urged against the interiorcavity wall of the patient by the console magnets 614 has greaterstability and leverage in comparison to a device that has a smaller“footprint.” That is, the device 550 can have at least three magnets(not shown) disposed at the three corners of the triangularconfiguration such that when the device 550 is magnetically positionedagainst the interior cavity wall, the arms of the device 550 can applygreater force to the target tissues while maintaining the position ofthe device 550 than a corresponding single cylindrical device body.

It is understood that the device embodiments disclosed herein are notlimited to a triangular configuration. FIG. 33 depicts a device 620having a quadrangular configuration with four segments. Similarly,devices are contemplated herein having any number of segments rangingfrom two segments to any number of segments that can be used for adevice that can be positioned inside a patient's body. For example, adevice incorporating the components and structures disclosed hereincould have six or eight segments or more.

In accordance with one embodiment, the various medical devices disclosedherein and in the applications incorporated above can be usedcooperatively. That is, two or more devices can be used at the same timeduring the same procedure to accomplish more or perform the proceduremore quickly than when only one device is used at a time. As such,multiple robots (more than one device and up to any number capable ofbeing inserted into a patient's cavity and present in the cavity at thesame time for performing one or more procedures) are inserted into thepatient's cavity and each controlled by the surgical team.

FIGS. 34-36 depict three different embodiments of cooperative use of twoor more medical devices together. In FIG. 34, the devices that arepositioned within a cavity of a patient include a device withoperational arms 630, two lighting devices 632A, 632B, and a cylindricaldevice having a winch component with an end effector 634. These devicescan be operated at the same time using one or more external controllersand/or visualization components according to the various embodimentsdisclosed above or in the applications incorporated above.

Similarly, FIG. 35 depicts a cooperative procedure implementation usinga cylindrical device having a winch component with an end effector 640,a lighting device 642, and a cylindrical device 644. The cylindricaldevice 644 can have an imaging component and/or additional operationalcomponents such as sensors, etc.

Another embodiment is depicted in FIG. 36, in which a cooperativeprocedure is performed using a device with arms 650 and a lightingdevice 652.

According to one embodiment, the devices are assembled while beingintroduced through a natural orifice, a port, or an incision. Forinstance, if insertion is through the esophagus, each robot is inserteddown the overtube, which provides an “in line” ability for consistentassembly as each robot is “pushed” down the overtube. Alternatively,after insertion into the abdominal cavity, a camera and tool can beinserted to assist with the mechanical connections, or other roboticdevices can be used to help with the mechanical connections.

The level of cooperation amongst two or more in vivo medical devicesvaries between high network communications, planning, and some autonomy,to lower level mechanical connections and surgeon control. That is, incertain embodiments, the cooperative devices can communicate with eachother and perform with some level of autonomy (without input or withlimited input from the user or surgeon). In an alternativeimplementation, the cooperative devices can simply be positioned in thesame general procedural space and separately controlled by one or moreusers to work cooperatively to perform a procedure or procedures.

In one embodiment, two or more devices positioned in a body cavity canbe coupled to each other in some fashion. It is understood that thecoupling does not necessarily result in a rigid coupling of the devicesto each other in all degrees. As such, the configuration(s) of two ormore devices may adapt to the varying geometry of each patient,disturbances to the abdominal wall, and respiration cycle. According toone implementation, one benefit of coupling the devices is to maintain aset distance between the devices for vision, lighting, tissuemanipulation, and other procedural purposes.

Although the present invention has been described with reference topreferred embodiments, persons skilled in the art will recognize thatchanges may be made in form and detail without departing from the spiritand scope of the invention.

What is claimed is:
 1. A medical device system comprising: (a) a firstarm component configured to be positionable inside a cavity of apatient, the first arm component comprising: (i) a first arm body; (ii)a first end effector operably coupled with the first arm body; and (iii)at least one first coupling component associated with the first armbody; (b) a second arm component configured to be positionable insidethe cavity of the patient, the second arm component comprising: (i) asecond arm body; (ii) a second end effector operably coupled to thesecond arm body; and (iii) at least one second coupling componentassociated with the second arm body; (c) a device body comprising: (i) afirst body coupling component disposed at a first end of the devicebody, the first body coupling component configured to be coupleable withthe at least one first coupling component; and (ii) a second bodycoupling component disposed at a second end of the device body, thesecond body coupling component configured to be coupleable with the atleast one second coupling component; and (d) a connection componentcoupled to and extending from the device body.
 2. The system of claim 1,wherein the first end effector is chosen from a group consisting of acautery component, a biopsy component, a grasper component, and a sensorcomponent.
 3. The system of claim 1, wherein the second end effector ischosen from a group consisting of a cautery component, a biopsycomponent, a grasper component, and a sensor component.
 4. The system ofclaim 1, wherein the device body comprises a first operational componentchosen from a group consisting of an imaging component, an end effector,a sensor component, and a lighting component.
 5. The system of claim 1,wherein the device body comprises an imaging component.
 6. The system ofclaim 1, further comprising an external controller configured to bepositionable outside the cavity of the patient, the external controllerbeing operably coupled to the device body via the connection component.7. The system of claim 6, wherein the device body comprises an imagingcomponent.
 8. The system of claim 7, wherein the external controllercomprises an image display component operably coupled to the imagingcomponent via the connection component.
 9. The system of claim 1,wherein the connection component comprises a lockable tube.
 10. Thesystem of claim 1, wherein the device body comprises a lightingcomponent.
 11. A medical device system comprising: (a) a first armcomponent configured to be positionable inside a cavity of a patient,the first arm component comprising: (i) a first arm body; (ii) a firstend effector operably coupled with the first arm body; and (iii) atleast one first coupling component associated with the first arm body;(b) a second arm component configured to be positionable inside thecavity of the patient, the second arm component comprising: (i) a secondarm body; (ii) a second end effector operably coupled to the second armbody; and (iii) at least one second coupling component associated withthe second arm body; (c) a device body comprising: (i) a first bodycoupling component disposed at a first end of the device body, the firstbody coupling component configured to be coupleable with the at leastone first coupling component; and (ii) a second body coupling componentdisposed at a second end of the device body, the second body couplingcomponent configured to be coupleable with the at least one secondcoupling component; (d) a connection component coupled to and extendingfrom the device body; and (e) an external controller configured to bepositionable outside the cavity of the patient, the external controllerbeing operably coupled to the device body via the connection component.12. The system of claim 11, wherein the device body comprises a firstoperational component chosen from a group consisting of an imagingcomponent, an end effector, a sensor component, and a lightingcomponent.
 13. The system of claim 11, wherein the device body comprisesan imaging component and a lighting component.
 14. The system of claim11, wherein the external controller comprises an image display componentoperably coupled to the imaging component via the connection component.15. The system of claim 11, wherein the connection component comprises alockable tube.
 16. The system of claim 11, wherein the externalcontroller comprises at least one arm controller component operablycoupled to the first arm component.
 17. A method of performing a medicalprocedure with a medical device system, the method comprising: formingan incision accessing a cavity of a patient; positioning the medicaldevice system into the cavity through the incision, the medical devicesystem comprising: (a) a first arm component configured to bepositionable inside a cavity of a patient, the first arm componentcomprising: (i) a first arm body; (ii) a first end effector operablycoupled with the first arm body; and (iii) at least one first couplingcomponent associated with the first arm body; (b) a second arm componentconfigured to be positionable inside the cavity of the patient, thesecond arm component comprising: (i) a second arm body; (ii) a secondend effector operably coupled to the second arm body; and (iii) at leastone second coupling component associated with the second arm body; (c) adevice body comprising: (i) a first body coupling component disposed ata first end of the device body, the first body coupling componentconfigured to be coupleable with the at least one first couplingcomponent; and (ii) a second body coupling component disposed at asecond end of the device body, the second body coupling componentconfigured to be coupleable with the at least one second couplingcomponent; and (d) a connection component coupled to and extending fromthe device body; and controlling the medical device system with anexternal controller operably coupled to device body via a connectioncomponent.
 18. The method of claim 17, wherein the device body comprisesan imaging component, the method further comprising performing aprocedure within the cavity of the patient while operating the imagingcomponent.
 19. The method of claim 18, wherein the external controllercomprises an image display component operably coupled to the imagingcomponent via the connection component, wherein the performing theprocedure within the cavity of the patient further comprises viewing theprocedure via the image display component.
 20. The method of claim 18,wherein the external controller comprises at least one arm controllercomponent operably coupled to the first arm component, wherein theperforming the procedure within the cavity of the patient furthercomprises operating at least one of the first and second end effectorsby manipulating the at least one arm controller component.